EP4049417B1 - Procédé de communication de données entre abonnés dans un réseau d'automatisation, abonné maître pour un réseau d'automatisation et réseau d'automatisation - Google Patents

Procédé de communication de données entre abonnés dans un réseau d'automatisation, abonné maître pour un réseau d'automatisation et réseau d'automatisation Download PDF

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Publication number
EP4049417B1
EP4049417B1 EP20816129.9A EP20816129A EP4049417B1 EP 4049417 B1 EP4049417 B1 EP 4049417B1 EP 20816129 A EP20816129 A EP 20816129A EP 4049417 B1 EP4049417 B1 EP 4049417B1
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Prior art keywords
data packet
transmission
transmission order
data
order
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EP20816129.9A
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German (de)
English (en)
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EP4049417B8 (fr
EP4049417A1 (fr
Inventor
Karl Weber
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Beckhoff Automation GmbH and Co KG
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Beckhoff Automation GmbH and Co KG
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/403—Bus networks with centralised control, e.g. polling
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
    • G05B19/056—Programming the PLC
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/10—Plc systems
    • G05B2219/11—Plc I-O input output
    • G05B2219/1134—Fieldbus
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/10—Plc systems
    • G05B2219/12—Plc mp multi processor system
    • G05B2219/1214—Real-time communication between plc, Ethernet for configuration, monitor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/10—Plc systems
    • G05B2219/15—Plc structure of the system
    • G05B2219/15018—Communication, serial data transmission, modem

Definitions

  • the invention relates to a method for data communication between participants in an automation network.
  • the invention also relates to a master participant for an automation network, which is designed to carry out the method for data communication between participants in an automation network, and a corresponding automation network.
  • Automation networks are often operated as so-called "fieldbus systems”.
  • Fieldbus systems are industrial bus systems that enable real-time capable control of the machines or systems in the automation network.
  • the machines or systems in the automation network are usually controlled using programmable logic controllers (PLCs).
  • PLCs programmable logic controllers
  • the PLC uses the fieldbus system to communicate between the field devices, for example sensors and actuators of the machines or systems in the automation network, with the PLC. If several communication participants send data packets via the same data line, which can be in the form of a wired or wireless bus system, it must be specified which communication participant is allowed to send at what time.
  • Fieldbus systems usually work in what is known as "master-slave operation". This means that the master participant takes over the control of the processes, while the slave participants take on the processing of subtasks in the control operation of the automation network.
  • the exchange of data takes place in the automation network using data packets that are output by the master participant to the slave participants.
  • the slave participants can read the output data addressed to them and, if necessary, send a data packet back to the master participant.
  • the data packets can be forwarded from a slave participant to other slave participants or sent back to the master participant.
  • forwarding refers to the specification of transmission paths for the transmission of data packets in the automation network.
  • data packets can be forwarded to the corresponding segments in which the addressed slave participants are arranged via corresponding connecting elements. It can happen that data packets that are sent back to the master participant from different segments of the network meet on the way back from the slave participants to the master participant, i.e. arrive almost simultaneously at an intermediate connecting element, which causes additional delays in different data packets, which then negatively affects the response time of the system. But not only overlaps on the data path are critical. Due to the sequence, it can also happen that individual data packets arrive so late at a device or segment and this device itself has a strong delay, so that a control action that has to take all data into account is only called very late.
  • the occupancy time of the network can generally also be referred to as the total occupancy time.
  • delaying data packets to avoid overlapping of the data packets can entail further delays in further data packets in order in turn to avoid collisions of the previously delayed data packets.
  • a superimposition of data packets results in at least two data packets being transmitted in the same direction, at least partially overlapping. Overlays mean that the information in the overlaid data packets cannot be read out unambiguously, so that at least one of the overlaid data packets has to be delayed in order to avoid an overlap.
  • a change in the Order of the transmitted data packets are used to avoid overlapping of the data packets. Both can lead to delays in the entire data communication between the master participant and the slave participants and, associated with this, to a reduction in the effectiveness and performance of the automation system.
  • Arranging data packets to be sent in correspondingly advantageous sequences falls within the scope of scheduling problems.
  • Scheduling problems in which optimal solutions are sought for sequences of several mutually dependent processes are characterized by a high degree of complexity and are usually not solvable for a relatively small number of factors to be considered in a practical time and with realistic computing effort.
  • the invention relates to networks in which data streams run in parallel on sections and there may be overlaps on other sections.
  • the aim is to reduce the effects of this overlap to a minimum.
  • the invention concerns a coordination of data streams in a master-slave relationship, with data streams of data packets sent out for data communication having common data paths so that a sequence of the communication and the sending out of the data packets must be taken into account.
  • a method for real-time data communication between participants in an automation network comprising a master participant, slave participants and at least one connection unit which are connected to one another via a data line network, the master participant being designed to communicate with the slave participants for data communication Emit data packets in a cycle in which the data packets are sent from the master participant to the slave participants and sent from the slave participants to the master participant, and the connection unit is designed to forward data packets addressed to the slave participants and to forward the data packets back to the master participant
  • the process steps includes: Arrangement by the master participant of n data packets to be transmitted in a transmission order with a total occupancy time of the transmission order in a first arrangement step, the total occupancy time being a period from the transmission by the master subscriber of a first bit of a data packet transmitted first to receipt by the master subscriber of a last bit of a last received data packet includes,
  • a transmission order for the data communication of data packets to be transmitted can be achieved which has a minimum total occupancy time of the communication medium by the data packets to be transmitted.
  • a transmission order with a minimum occupancy time can be determined via a finite number of at most n*(n ⁇ 1)/2 pairwise exchange steps of sequences of the data packets arranged in the transmission sequences. In total, with a transmission sequence of n data packets, n! (n faculty) Swapping of the data packets possible.
  • the finite number of a maximum of n*(n ⁇ 1)/2 pairwise permutations of the sequences of the data packets arranged in the transmission sequences can be carried out with a comparatively small amount of computing effort. This achieves the technical advantage that only a comparatively small computing capacity is required to achieve a transmission sequence with a minimum occupancy time. This achieves the technical advantage that the method according to the invention for real-time capable data communication between participants in an automation network can be carried out by a master participant of the automation network. On the other hand, an additional computing unit for executing the optimization method is not required.
  • a transmission order with a minimum total occupancy time of the data packets arranged in the transmission order is determined by carrying out the optimization method.
  • the transmission order for which the data packets sent out in this transmission order experience the least delay to avoid collisions between data packets is determined by the maximum n*(n-1)/2 pairwise permutations of the sequences of the data packets that follow one another in the transmission sequence.
  • a minimum total occupancy time of a transmission sequence is achieved when the data packets to be transmitted in the transmission sequence are arranged in such a way that after the data packets have been transmitted in the corresponding transmission sequence, either no collisions occur between the transmitted data packets or, in the event that collisions occur due to the respective topology of the automation network unavoidable, these lead to a minimal delay in the transmitted data packets.
  • an automation network is an automation system in which a master subscriber, a number of slave subscribers and at least one connection unit are arranged in a specific topology or structure via a data line network.
  • the topology or structure can be, for example, a tree structure, a comb structure, a ring structure, a linear structure or any other type of structure.
  • the participants in the automation network are arranged in a master-slave communication arrangement in which the master participant is exclusively set up to send out communication requests to the slave participants.
  • a master participant is a participant in an automation network that is only authorized to initiate data communication with corresponding slave participants.
  • a master participant can be a fieldbus master, for example.
  • a slave participant is a participant in an automation network that is not authorized to initiate data communication with other participants in the automation network.
  • a slave participant is only authorized to take part in a data communication initiated by a master participant.
  • a slave node can be a fieldbus terminal, an actuator or a sensor of the automation network, for example.
  • a data line network can be a field bus system, for example.
  • data packets can, for example, be telegrams of a corresponding communication protocol and have at least one header and one data section.
  • data packets can be telegrams of an Ethernet protocol, an EtherCAT protocol or another fieldbus protocol.
  • a connection unit is a unit that is designed to forward data packets used for data communication to correspondingly addressed participants in the automation network. Furthermore, a functionality of a connection unit can be integrated in a slave subscriber or in a plurality of slave subscribers and/or in a master subscriber or in a plurality of master subscribers.
  • the method according to the invention can be used to achieve an optimum of the total occupancy time in the case of decoupled subscribers.
  • the slave subscribers can be divided into segments, with each segment comprising at least one slave subscriber, and with the connection unit being designed to forward data packets addressed to slave subscribers of a specific segment.
  • a segment is a section of an automation network.
  • a segment can in turn be divided into sub-segments.
  • a segment can include at least one slave participant or a plurality of slave participants of the automation network.
  • a segment can be connected to other segments of the automation network via a corresponding connection unit.
  • permutations in pairs are the permutations of the order of two data packets that follow each other directly in the transmission order.
  • the first arranging step includes: Arranging the n data packets in a descending transmission order with descending individual round-trip times of the n data packets in a second arrangement step, in the descending transmission order a data packet with the longest individual round-trip time being at the first position in the transmission order and a data packet with the shortest individual round-trip time being at the last position in the transmission order, and with the individual round-trip time being one of each data packet includes a period of time from the transmission by the master participant of a first bit of the data packet to a reception by the master participant of a last bit of the data packet.
  • the pre-arrangement of the n data packets performed in the first arrangement step makes it possible to reduce the number of pairs of data packets that need to be swapped over in the optimization step in order to achieve the optimized transmission arrangement with a minimum total occupancy time.
  • the descending transmission order already represents the optimized transmission order with a minimum total occupancy time.
  • the time required to determine the optimized transmission order with a minimum total occupancy time can be reduced by the arrangement of the data packets in the descending transmission order in the second arrangement step compared to an arbitrary transmission order can already be reduced substantially.
  • the automation network 100 comprises at least one master participant 101, several slave participants 103 and at least one connection unit 105, which are connected via a data line network 115, wherein the automation network 100 is divided into segments X, each segment X comprising at least one slave participant 103, the master participant 101 is designed to send data packets to the slave participants 103 for data communication in one cycle, in which the data packets are sent from the master participant 101 to the slave participants 103 and sent back from the slave participants 103 to the master participant 101, and wherein the connection unit 105 is designed to send to the slave participants 103 of a specific segment X to forward addressed data packets and to forward the data packets back to the master subscriber 101.
  • the automation network 100 includes a plurality of connection units 105, which are designed to forward data packets sent by the master participant 101 to specific slave participants 103 to the respectively addressed slave participants 103 or to forward data packets sent by the slave participants 103 to the master participant 101 to the latter.
  • the first segment A includes a first connection unit 107 which is designed to forward data packets from the master participant 101 to the slave participants 103 arranged in the first sub-segment A1, the second sub-segment A2 or the third sub-segment A3.
  • the second segment B comprises a second connection unit 109 which is designed to forward from the master subscriber 101 to the slave subscribers 103 arranged in the fourth sub-segment B1 or the fifth sub-segment B2.
  • the third segment C comprises a third connection unit 111, which is designed to forward data packets transmitted by the master participant 101 to the slave participants 103 arranged in the sixth sub-segment C1 or the seventh sub-segment C2 to the corresponding slave participants 103.
  • the connection units 105 are appropriately designed to forward data packets addressed by the respective slave participants 103 to the master participant 101 accordingly to the master participant 101 .
  • the automation network 100 comprises at least one master participant 101, several slave participants 103 and at least one connection unit 105, which are connected via a data line network 115, wherein the automation network 100 is divided into segments X, each segment X comprising at least one slave participant 103, the master participant 101 is designed to send data packets to the slave participants 103 for data communication in one cycle, in which the data packets are sent from the master participant 101 to the slave participants 103 and sent back from the slave participants 103 to the master participant 101, and wherein the connection unit 105 is designed to send to the slave participants 103 of a specific segment X to forward addressed data packets and to forward the data packets back to the master subscriber 101.
  • the method 200 comprises the method steps: arranging by the master participant 101 of n data packets to be sent in a transmission order with a total occupancy time of the transmission order in a first arrangement step 201, the total occupancy time being a period of time from the transmission by the master participant 101 of a first bit of a first transmitted includes data packet up to a reception by the master subscriber 101 of a last bit of a last received data packet,
  • a total occupancy period of a transmission sequence of the n data packets to be transmitted thus includes a period from the transmission of a first bit of a data packet transmitted first to the receipt of a last bit of a data packet received last by the master subscriber 101.
  • a total occupancy period of the transmission sequence thus describes a period in which the n transmitted Data packets are transmitted between the master participant 101 and the slave participants 103 via the data line network 115.
  • the master subscriber 101 After each exchange of pairs of two consecutive data packets, the master subscriber 101 determines the total occupancy time of the transmission order with the respective data packets exchanged in pairs. After a maximum of n*(n-1)/2 pairs of exchanges of the data packets in the transmission order by the master subscriber 101, the latter determines the optimized transmission order with a minimum total occupancy time.
  • the pairwise swapping of the sequences of consecutive data packets in the transmission order does not result in an optimized transmission sequence with a minimum total occupancy time, i.e.: if the pairwise swapping does not improve the total occupancy time compared to the original transmission sequence, the n data packets to be transmitted are transmitted according to the original transmission sequence.
  • FIG. 3 shows a flowchart of the method 200 for data communication between participants in an automation network 100 according to a further embodiment.
  • data communication between the master participant 101 and the slave participants 103 includes the sending of a data packet by the master participant 101 to corresponding slave participants 103 and the data packet being sent back by the addressed slave participants 103 and a corresponding reception of the returned data packet by the master participant 101 .
  • the master subscriber 101 can determine a corresponding individual round trip time for each data packet.
  • An individual round trip time results here from a sum of twice the latency, an individual occupancy time of the data packet and an individual round trip time of the data packet for the corresponding segment.
  • the latency of the data packet includes a period of time for the data transmission of the data packet from the master subscriber 101 to the corresponding connection unit 105 of the respective segment X, in which the slave subscriber 103 is located, to which the data packet to be sent is addressed.
  • Data packets that are addressed to slave subscribers 103 in different segments X can consequently also vary in their individual round trip time, since such data packets traverse a different number of segments X and different routes within the segments X before they go through the corresponding connection units 105 to the master subscriber 101 can be sent back.
  • the master subscriber 101 determines a first reception time marker for each of the n data packets in the descending order of transmission.
  • a third arranging step 211 the master participant 101 arranges the n data packets in the descending order of transmission in an ascending order of transmission, with the first data packet in the ascending order of transmission having the smallest first reception time mark and the last data packet in the ascending order of transmission having the largest first reception time mark.
  • the master subscriber 101 determines a corrected first reception time mark for each data packet in the ascending transmission order if the first reception time mark of the respective data packet is earlier than the second reception time mark of a data packet arranged before the data packet in the ascending transmission order.
  • a corrected first reception time marking of a data packet in the ascending transmission order corresponds to a second reception time marking of a data packet arranged before the data packet in the ascending transmission order.
  • the master subscriber 101 determines a corrected second reception time mark for the respective data packets.
  • the corrected second reception time marking corresponds to a sum of the corrected first reception time marking and the individual occupancy time of the respective data packet.
  • FIG. 4 shows a flowchart of the method 200 for data communication between participants in an automation network 100 according to a further embodiment.
  • the master subscriber 101 determines a transmission offset for each data packet.
  • the transmission offset of a data packet in a transmission order corresponds to a sum of the individual occupancy periods of the data packets that precede the respective data packet in the respective transmission order.
  • Table 1 seven data packets to be sent by the master participant 101 to the slave participants 103 of the automation network 100 are arranged in any order of transmission.
  • the individual data packets are identified by the designations DA1, DA2, DA3, DB1, DB2, DC1 and DC2 arranged to the left of Table 1.
  • the identifiers of the individual data packets correspond to the sub-segments DA1 to DC2 of the in 1 illustrated automation network 100.
  • the data packet DA1 is thus addressed to the slave participants 103 of the first sub-segment DA1, while the data packet DC2 to the slave participants 103 of the seventh sub-segment DC2 of the automation network 100 in 1 is addressed.
  • a latency (Lat) is listed for each data packet.
  • the latency relates to a period of time required for a data packet to be transmitted from the master subscriber 101 to the segment X comprising the respective sub-segment XN.
  • the latencies of the different data packets consequently differ according to the distance of the respective segments X from the master subscriber 101, so that the data packets DA1, DA2, DA3 have the lowest latency, while the data packets DC1 and DC2, which are each transmitted up to the third segment C, have the greatest exhibit latency.
  • an individual occupancy period is specified for each data packet.
  • the individual occupancy periods depend individually with the respective data package together and may vary from data package to data package.
  • the individual occupancy period can be interpreted with the frame length of a data packet. There is no correlation between the individual occupancy period of a data packet and the respective sub-segment XN in which the addressed slave subscribers 103 are located.
  • Column 3 of Table 1 specifies an individual partial cycle time for each data packet.
  • the individual partial round trip time of a data packet relates to the period of time that the data packet requires to traverse the respective segment X, in particular the respective sub-segment XN, and thus includes in particular the period from the receipt of the data packet by the corresponding connection unit 105 of the respective segment X to the transmission of the data packet to the master subscriber 101 through the respective connection unit 105.
  • the data packets from Table 1 are arranged in a descending order of transmission, the respective data packets being arranged in the descending order of transmission with decreasing individual round trip time.
  • a transmission offset is given in Table 2 for each data packet in the fifth column.
  • the transmission offset for any data packet corresponds to a sum of the individual occupancy periods of the data packets that precede the corresponding data packet in the respective descending transmission order.
  • the transmission offset of a data packet in descending order of transmission thus describes the delay in the transmission of the first bit of the respective data packet compared to the transmission of the first bit of the first data packet.
  • the transmission of the first bit of the data packet DA1 is thus delayed, for example, by 84 time units compared to the transmission of the first bit of the data packet DA3.
  • a first reception time stamp is also specified for each data packet.
  • the first reception time stamp is a point in time when the first bit of the respective data packet was received by the master subscriber 101, and a value of the first reception time stamp describes the period from the transmission of the first bit of the first data packet in the descending transmission order by the master subscriber 101 to the receipt of the first bit of the respective data packet through the master subscriber 101.
  • the first reception time marker for a data packet results from a sum of the individual round trip time and the transmission offset of the respective data packet minus the individual occupancy time of the respective data packet.
  • a value of a first reception time marker of a data packet in the descending order of transmission relates to a period of time from the transmission of a first bit of the first data packet in the descending order of transmission by the master subscriber 101 to the receipt of a first bit of the respective data packet by the master subscriber 101.
  • a first reception time marking of a data packet results from a sum of the individual round trip time of the data packet and the transmission offset of the data packet minus the individual occupancy time of the respective data packet.
  • the data packets of the descending transmission order of Table 2 are arranged in an ascending transmission order.
  • the data packets are arranged with increasing first reception time stamp, so that the first data packet in the ascending transmission order, in Table 3 the data packet DB1, has the smallest first reception time mark, and the last data packet in the ascending transmission order, in Table 3 the data packet DB2, consequently having the largest first received timestamp.
  • a corrected first reception time stamp is also specified for each data packet.
  • a data packet in particular on the data communication return direction, must be delayed if there is a risk of the data packet colliding with a preceding data packet.
  • a collision of this type corresponds to the fact that a first reception time marking of a data packet is earlier than a second reception time marking of a data packet preceding the data packet.
  • a second reception time mark of the data packet corresponds to a sum of the first reception time mark of the respective data packet and the individual occupancy time of the data packet.
  • the first three data packets DB1, DC1 and DA1 are not affected by a collision with the respective preceding data packets.
  • the first reception time mark of the data packet DC1 is later than the first reception time mark of the data packet DB1 plus the individual occupancy period of the data packet DB1.
  • the first time of receipt of the data packet DA1 is also later than the first time of receipt of the data packet DC1 plus the individual occupancy time of the data packet DC1. Consequently, for the first three data packets DB1, DC1 and DA1 there is no reason to cause a delay and to determine a corrected first reception time marking that deviates from the first reception time marking.
  • the first time of receipt of the fourth data packet DA2 is earlier than a sum of the first time of receipt of the data packet DA1 and the individual occupancy time of the data packet DA1. A collision would therefore have to be feared between the data packets DA1 and DA2, and there is therefore reason to delay the fourth data packet DA2.
  • the master subscriber 101 thus ascertains a corrected first reception time marker for the data packet DA2.
  • the corrected first reception time stamp for the data packet DA2 corresponds to a sum of the first reception time stamp of the data packet DA1 and the individual occupancy period of the data packet DA1, ie the second reception time stamp of the data packet DA1.
  • the delay in the data packet DA2 and the determination of the corrected first time of receipt of the data packet DA2 leads to a collision of the data packets DA2 and DC2, in that the first time of receipt of the fifth data packet DC2 is earlier than a sum of the corrected first time of receipt of the data packet DA2 and the individual occupancy time of the Data packet DA2, ie the corrected second reception time stamp of the data packet DA2.
  • the fifth data packet DC2 must therefore also be delayed and a corrected first reception time mark must be determined for the data packet DC2.
  • the corrected first reception time mark for the data packet DC2 corresponds to a sum of the corrected first reception time mark of the data packet DA2 and the individual occupancy time of the data packet DA2, ie the corrected second reception time mark of the data packet DA2.
  • a corrected second reception time marking of the data packet DC2 corresponds to a sum of a corrected first reception time marking of the data packet DA3 and an individual occupancy period of the data packet DA3, i.e. a corrected second reception time marking of the data packet DA3.
  • the delays in the fourth to seventh data packets in the ascending order of transmission lead to an increase in the total occupancy time of the ascending order of transmission.
  • the total occupancy period of the ascending transmission order corresponds to a sum of the corrected first reception time marker of the last data packet DB2 and the individual occupancy period of the last data packet DB2.
  • the master subscriber 101 carries out an optimization method in the optimization step 203 in order to determine an optimized transmission order based on, for example, the ascending transmission order, which has a shorter total occupancy time than the ascending transmission order.
  • the master subscriber 101 interchanges the order of an i-th data packet and an i+1-th data packet following the i-th data packet in an m-1-th transmission order.
  • the i-th data packet can be any data packet with i ⁇ 1 and i ⁇ n-1, where: n ⁇ 3.
  • the mth transmission order can be any initial transmission order.
  • the m-th transmission order can be the increasing transmission order in which the n data packets are arranged with increasing first reception time stamp.
  • the i-th data packet can be a first data packet in a transmission order, in particular the first data packet in the ascending transmission order.
  • a first checking step 221 the master subscriber 101 checks whether an m+1-th total occupancy period of the m+1-th transmission order is shorter than the m-th total occupancy period of the m-th transmission order.
  • the master subscriber 101 swaps the order of the i-th data packet and the i+1-th data packet back and restores the m-th transmission order in a first swap-back step 223 here.
  • the optimization process is complete and the master participant 101 sends the n data packets based on the m-th transmission order, i.e. the initial transmission order, for example the ascending order of transmission to the slave participants 103 in the transmission step 205.
  • the method 200 is continued by repeating the first swapping step 219 with respect to the newly set i th data packet and the newly set i+1 th data packet.
  • an initial transmission order for example the ascending transmission order.
  • the renaming of the i-th data packet to the k-th data packet indicates that the interchanging of the data packets is continued in the opposite direction in the following method step.
  • the index i is used for the i-th data packet and the i+1-th data packet, it is indicated that the direction of interchange points from the start of the transmission sequence towards the end of the transmission sequence. In this way, successive data packets are swapped over until the end of the transmission sequence is reached.
  • a third checking step 231 the master subscriber 101 checks whether the kth data packet is the first data packet of the m+1th transmission sequence, ie whether the following applies: k ⁇ 2.
  • the second checking step 225 is continued with respect to the m+1 th transmission order.
  • a second swapping step 233 the order of the kth data packet and the k ⁇ 1 th data packet preceding the k th data packet in the m+1 th transmission sequence is interchanged and an m+2 th transmission sequence with an m+2 th total occupancy period is determined.
  • the order of the k-th data packet and the k-1-th data packet is reversed compared to the m+1-th transmission order.
  • a check is made as to whether the m+2-th total occupancy period of the m+2-th transmission order is shorter than the m+1-th total occupancy period of the m+1-th transmission order.
  • the order of the k-th data packet and the k-1-th data packet is reversed and the m+1 th transmission order is restored in a second swap-back step 237 .
  • the method is continued with the second checking step 225 with the m+1th transmission sequence.
  • the method is continued with the third checking step 231 with the m-th transmission order and the newly set k-th and k-1-th data packets.
  • the fourth data packet is consequently swapped with the third data packet of the mth transmission order, and an m+2th transmission order is thus created.
  • the described optimization method thus preferably starts at the beginning of a transmission sequence and swaps directly consecutive data packets in pairs towards the end of the transmission sequence until a swap of two consecutive data packets leads to a shorter total occupancy time.
  • the exchange of the two data packets is retained and, starting from the exchanged data packets, exchanges are carried out in pairs in the direction of the beginning of the respective transmission sequence. If these permutations do not lead to a shortened transmission sequence, permutations in pairs are continued in the direction of the end of the transmission sequence, starting from the permuted data packets whose permutations have led to a shortened transmission sequence.
  • Tables 4 and 5 which are a continuation of Tables 1 to 3, illustrate an exchange of data packets according to the optimization method described above and a determination of the total occupancy time of the transmission order achieved by the exchanges.
  • Table 4 Table 4 ⁇ /b> Increasing transmission order with increasing first received timestamp, corrected first received timestamp and pairwise permutation latency Individual occupancy period Individual part cycle time (segment) individual orbital period Send offset First reception period Corrected First Receive Duration DB1 10 12 160 192 112 292 292 DC1 16 12 180 224 100 312 312 DA1 4 16 280 304 84 372 372 DC2 16 16 280 328 48 360 360 DA2 4 20 320 348 64 392 392 DA3 4 24 400 432 0 408 424 DB2 10 24 380 424 24 424 448
  • Table 4 is based on Table 3 and shows the ascending transmission order of the seven data packets DA1 to DC2. Compared to Table 3, the order of the fourth data packet DA2 and the fifth data packet DC2 is interchanged in Table 4. By interchanging the data packet DC2 in place of the data packet DA2, the data packet DC2 takes over the transmission offset of the data packet DA2. After the exchange, the data packet DC2 thus has a transmission offset of 48 time units. According to the type of calculation of the first reception time marking listed in Table 2, which corresponds to a sum of the individual round trip time and the transmission offset minus the individual occupancy time of a data packet, the first reception time marking of the data packet DC2 is reduced from 380 time units in Table 3 to 360 time units in Table 3 as a result of the swap Table 4.
  • the data packet DA2 is also assigned a new transmission offset.
  • the transmission offset of the data packet DA2 after the swap with the data packet DC2 does not correspond to the transmission offset of the data packet DC2 before the swap. Since the transmission offset of a data packet corresponds to the sum of the individual occupancy periods of the data packets preceding the respective data packet, and by swapping the Data packet DA2 with the data packet DC2, which is in front of the data packet DA2 after the swap, but this has an individual occupancy time that is four time units shorter than the data packet DA2, the transmission offset of the data packet DC2 after the swap is reduced compared to the transmission offset of the data packet DC2 before the exchange also by four time units.
  • Table 5 is based on Table 4 and emerges from it by swapping the data packets DA1 and DC2.
  • the new first reception time mark of the data packet DC2 resulting from the swapping of the data packet DC2 with the data packet DA2 is shorter than the first reception time mark of the data packet DA1 arranged before the data packet DC2 in Table 4.
  • the order of the data packets DC2 and DA1 is reversed in Table 5 compared to Table 4.
  • the first reception time mark of the data packet DA1 is earlier than the second reception time mark of the data packet DC2, which corresponds to a sum of the first reception time mark of the data packet DC2 and the individual occupancy time of the data packet DC2, the data packet DA1 must be subjected to a delay , to a collision of the data packets Avoid DA1 and DC2.
  • a corrected first reception time marking has thus been determined in Table 5 for the data packet DA1, which corresponds to a sum of the first reception time marking of the data packet DC2 and the individual occupancy period of the data packet DC2.
  • the corrected first reception time marking of the data packet DA2 corresponds to the first reception time marking of the data packet DA2. Due to corresponding collisions between the data packet DA2 and the data packet DA3 or the data packet DA3 and the data packet DB2, corrected first reception time markers are determined for the data packet DA3 and the data packet DB2 according to the method described above.
  • a total occupancy period results from the corrected first reception time marking of the last received data packet DB2 and the corresponding individual occupancy period of the data packet DB2.
  • the total occupancy period of the transmission order listed in Table 5 corresponds to 460 time units.
  • the transmission sequence in Table 3 has a total occupancy time of 472 time units, which also results from the corrected first reception time marker of the last received data packet DB2 and the individual occupancy time of the data packet DB2. This illustrates that by interchanging the above-mentioned data packets in Tables 4 and 5, a reduction in the total occupancy time of the respective transmission order of the seven data packets can be achieved.
  • the method described above can be continued with the data packets in Table 5 until an optimized transmission order with a minimum total occupancy time is achieved.
  • the clarification of the individual process steps using Tables 1 to 5 is for illustrative purposes only. Since the characteristics of the individual swapping steps and the determination of a total occupancy time of a transmission sequence could be made clearer based on the swapping of the data packets in Tables 4 and 5, a further example-based illustration of additional swapping steps is dispensed with.

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Claims (9)

  1. Procédé (200) de communication de données apte au temps réel entre des abonnés dans un réseau d'automatisation (100), dans lequel le réseau d'automatisation (100) comprend un abonné maître (101), plusieurs abonnés esclaves (103) et au moins une unité de liaison (105) qui sont reliés les uns aux autres par un réseau de lignes de données (115), le réseau de lignes de données (115) étant réalisé sous la forme d'un système de bus de terrain, dans lequel l'abonné maître (101) est réalisé pour émettre aux abonnés esclaves (103) des paquets de données pour la communication de données dans un cycle dans lequel les paquets de données sont émis par l'abonné maître (101) aux abonnés esclaves (103) et des paquets de données sont envoyés des abonnés esclaves (103) à l'abonné maître (101), et dans lequel l'unité de liaison (105) est réalisée pour transmettre des paquets de données adressés aux abonnés esclaves (103) et pour renvoyer les paquets de données à l'abonné maître (101),
    le procédé (200) comprenant les étapes de procédé consistant à :
    agencer, par l'abonné maître (101), n paquets de données à émettre dans un ordre d'envoi avec une durée d'occupation totale de l'ordre d'envoi dans une première étape d'agencement (201), la durée d'occupation totale comprenant une période allant de l'émission par l'abonné maître (101) d'un premier bit d'un paquet de données émis en premier jusqu'à une réception par l'abonné maître d'un dernier bit d'un paquet de données reçu en dernier,
    exécuter, par l'abonné maître (101), un procédé d'optimisation pour déterminer un ordre d'envoi optimisé avec une durée d'occupation totale minimale dans une étape d'optimisation (203), dans lequel le procédé d'optimisation comprend un nombre fini d'un maximum de n*(n-1)/2 permutations par paires des ordres de n paquets de données consécutifs dans l'ordre d'envoi et de déterminations des durées d'occupation totales des ordres d'envoi générés par les permutations, et
    émettre, par l'abonné maître (101), les n paquets de données dans l'ordre d'envoi optimisé aux abonnés esclaves (103) dans une étape d'envoi (205).
  2. Procédé (200) selon la revendication 1, dans lequel la première étape d'agencement (201) comprend :
    agencer les n paquets de données dans un ordre d'envoi descendant avec des durées de cycle individuelles descendantes des n paquets de données dans une deuxième étape d'agencement (207), dans lequel dans l'ordre d'envoi descendant, un paquet de données ayant la durée de cycle individuelle la plus longue est agencé en première position et un paquet de données ayant la durée de cycle individuelle la plus courte est agencé en dernière position de l'ordre d'envoi, et dans lequel la durée de cycle individuelle de chaque paquet de données comprend une période allant de l'émission par l'abonné maître (101) d'un premier bit du paquet de données jusqu'à une réception par l'abonné maître (101) d'un dernier bit du paquet de données.
  3. Procédé (200) selon la revendication 2, dans lequel la première étape d'agencement (201) comprend en outre :
    déterminer un premier marquage de temps de réception pour chacun des n paquets de données de l'ordre d'envoi descendant dans une première étape de détermination (209), dans lequel le premier marquage de temps de réception d'un paquet de données quelconque d'un ordre d'envoi est un instant d'une réception du premier bit du paquet de données respectif, et dans lequel une valeur du premier marquage de temps de réception comprend une période allant de l'émission par l'abonné maître (101) du premier bit du premier paquet de données de l'ordre d'envoi jusqu'à la réception par l'abonné maître (101) du premier bit du paquet de données respectif de l'ordre d'envoi, et
    déterminer un deuxième marquage de temps de réception pour chacun des n paquets de données de l'ordre d'envoi descendant, dans lequel le deuxième marquage de temps de réception correspond à une somme de la valeur du premier marquage de temps de réception et d'une durée d'occupation individuelle du paquet de données, dans lequel la durée d'occupation individuelle d'un paquet de données comprend une période allant de l'émission d'un premier bit du paquet de données à un premier marquage de temps d'émission jusqu'à l'émission d'un dernier bit du paquet de données à un deuxième marquage de temps d'émission, dans lequel le premier marquage de temps d'émission est un instant de l'émission du premier bit du paquet de données respectif, et dans lequel le deuxième marquage de temps d'émission est un instant de l'émission du dernier bit du paquet de données ;
    agencer les n paquets de données de l'ordre d'envoi descendant dans un ordre d'envoi ascendant avec un premier marquage de temps de réception ascendant des n paquets de données dans une troisième étape d'agencement (211), dans lequel, dans l'ordre d'envoi ascendant, un paquet de données ayant le plus petit premier marquage de temps de réception est agencé en première position et un paquet de données ayant le plus grand premier marquage de temps de réception est agencé en dernière position ; et
    déterminer un premier marquage de temps de réception corrigé et un deuxième marquage de temps de réception corrigé pour un paquet de données dans l'ordre d'envoi ascendant dans une étape de correction (213) si le premier marquage de temps de réception du paquet de données est antérieur au deuxième marquage de temps de réception d'un paquet de données agencé dans l'ordre d'envoi ascendant avant le paquet de données, dans lequel le premier marquage de temps de réception corrigé du paquet de données correspond au deuxième marquage de temps de réception du paquet de données agencé avant le paquet de données, et dans lequel le deuxième marquage de temps de réception corrigé du paquet de données correspond à une somme du premier marquage de temps de réception corrigé et de la durée d'occupation individuelle du paquet de données.
  4. Procédé selon la revendication 3, dans lequel la première étape d'agencement (201) comprend :
    déterminer un décalage d'envoi pour chaque paquet de données dans une deuxième étape de détermination (215), dans lequel le décalage d'envoi d'un paquet de données correspond à une somme des durées d'occupation individuelles des paquets de données placés en amont du paquet de données dans l'ordre d'envoi, et
    agencer les n paquets de données dans l'ordre d'envoi descendant dans une quatrième étape d'agencement (217) de telle sorte qu'une émission d'un premier bit d'un paquet de données est retardée du décalage d'envoi du paquet de données par rapport à l'émission d'un premier bit du premier paquet de données de l'ordre d'envoi descendant.
  5. Procédé (200) selon l'une quelconque des revendications précédentes, dans lequel l'étape d'optimisation (203) comprend :
    permuter l'ordre d'un paquet de données i et d'un paquet de données i+1 suivant le paquet de données i dans un ordre d'envoi m des n paquets de données avec une durée d'occupation totale m de l'ordre d'envoi m, et former un ordre d'envoi m+1 avec une durée d'occupation totale m+1, dans lequel, dans l'ordre d'envoi m+1, l'ordre du paquet de données i et du paquet de données i+1 est permuté, et dans lequel 1 ≤ i ≤ n-1 et n ≥ 3 sont vrais, où i, m, n, k sont des nombres naturels, dans une première étape de permutation (219),
    vérifier si la durée d'occupation totale m+1 est plus courte que la durée d'occupation totale m dans une première étape de vérification (221) ;
    si la durée d'occupation totale m+1 n'est pas plus courte que la durée d'occupation totale m :
    inverser la permutation de l'ordre du paquet de données i et du paquet de données i+1, et rétablir l'ordre d'envoi m dans une première étape d'inversion de permutation (223) ;
    vérifier si : i = n-1 est vrai dans l'ordre d'envoi m dans une deuxième étape de vérification (225) ;
    si : i = n-1 est vrai,
    émettre les n paquets de données sur la base de l'ordre d'envoi m dans l'étape d'envoi (205) ;
    si : i = n-1 n'est pas vrai,
    définir i = i+1 dans l'ordre d'envoi m dans une première étape de définition (227) ;
    poursuivre la première étape de permutation (219) avec l'ordre d'envoi m ;
    si la durée d'occupation totale m+1 est plus courte que la durée d'occupation totale m,
    conserver la permutation de l'ordre du paquet de données i et du paquet de données i+1 dans l'ordre d'envoi m+1, et définir k = i dans l'ordre d'envoi m = m+1dans une deuxième étape de définition (229),
    vérifier si : k < 2 est vrai dans l'ordre d'envoi m+1, dans une troisième étape de vérification (231) ;
    si : k < 2 est vrai,
    poursuivre la deuxième étape de vérification (225) avec l'ordre d'envoi m+1,
    si k < 2 n'est pas vrai :
    permuter l'ordre du paquet de données k et du paquet de données k-1 placé en amont du paquet de données k dans l'ordre d'envoi m+1, et déterminer un ordre d'envoi m+2 avec une durée d'occupation totale m+2, dans lequel, dans l'ordre d'envoi m+2, l'ordre du paquet de données k et du paquet de données k-1 est permuté par rapport à l'ordre d'envoi m+1, dans une deuxième étape de permutation (233),
    vérifier si la durée d'occupation totale m+2 est plus courte que la durée d'occupation totale m+1 dans une quatrième étape de vérification (235),
    si la durée d'occupation totale m+2 n'est pas plus courte que la durée d'occupation totale m+1 :
    inverser la permutation de l'ordre du paquet de données k et du paquet de données k-1, et rétablir l'ordre d'envoi m+1 dans une deuxième étape d'inversion de permutation (237),
    poursuivre la deuxième étape de vérification (225) avec l'ordre d'envoi m+1,
    si la durée d'occupation totale m+2 est plus courte que la durée d'occupation totale m+1 :
    conserver la permutation de l'ordre du paquet de données k et du paquet de données k-1 dans l'ordre d'envoi m+2, et définir k = k-1 et m = m+2 dans une troisième étape de définition (239),
    poursuivre la troisième étape de vérification (231) avec l'ordre d'envoi m.
  6. Procédé selon la revendication 5, dans lequel la première étape de permutation (219) commence par le premier paquet de données avec i = 1 du premier ordre d'envoi avec m = 1.
  7. Procédé selon la revendication 5 ou 6, dans lequel la première durée d'occupation totale avec m = 1 est la durée d'occupation totale corrigée de l'ordre d'envoi ascendant.
  8. Abonné maître (101) pour un réseau d'automatisation (100), l'abonné maître (101) étant réalisé pour exécuter un procédé (200) selon l'une quelconque des revendications précédentes 1 à 7.
  9. Réseau d'automatisation (100) comprenant au moins un abonné maître (101) selon la revendication 8, plusieurs abonnés esclaves (103) et au moins une unité de liaison (105) qui sont reliées par un réseau de lignes de données (115), le réseau de lignes de données (115) étant réalisé sous la forme d'un système de bus de terrain, dans lequel l'abonné maître (101) est réalisé pour émettre aux abonnés esclaves (103) des paquets de données pour la communication de données dans un cycle dans lequel les paquets de données sont émis de l'abonné maître (101) aux abonnés esclaves (103) et sont renvoyés des abonnés esclaves (103) à l'abonné maître (101), et dans lequel l'unité de liaison (105) est réalisée pour transmettre des paquets de données adressés aux abonnés esclaves (103) d'un certain segment (X) et pour ramener les paquets de données à l'abonné maître (101).
EP20816129.9A 2019-11-29 2020-11-24 Procédé de communication de données entre abonnés dans un réseau d'automatisation, abonné maître pour un réseau d'automatisation et réseau d'automatisation Active EP4049417B8 (fr)

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